duck.c

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <err.h>
#include <stdlib.h>
#include "../libduck/libduck.h"

#define SHAKE_ANGLE 90
#define SHAKE_T 300

void shake(int motor, int number, int min, int max, int delay)
{
     int delay1 = (delay * (-min)) / (max - min);
     int delay2 = delay - delay1;
     
     duck_set_position(motor, min);
     duck_delay(delay1);
     
     for (int j=0; j < number-1; j++) {
	  duck_set_position(motor, max);
	  duck_delay(delay);
	  duck_set_position(motor, min);
	  duck_delay(delay);
     }

     duck_set_position(motor, 0);
     duck_delay(delay2);
}

int read_mode = 0;

int main(int argc, char **argv)
{
     int option;
     const char *fname = DEFAULT_DUCK_FNAME;
     char buf[100];
     
     while ((option=getopt(argc, argv, "+t:dr")) != -1) {
	  switch (option) {
	  case 'd':
	       duck_debug_mode = 1;
	       break;
	  case 'r':
	       read_mode = 1;
	       break;
	  case 't':
	       strncpy(buf, optarg, 100);
	       fname = buf;
	       break;
	  default:
	       printf("Usage: duck [-t TTYNAME] command\n");
	       exit(EXIT_FAILURE);
	       break;
	  }
     }

     open_duck(fname);
     configure_duck();
     
     for (int i=optind; argv[i]; i++) {
	  if (strcmp(argv[i], "set") == 0) {
	       if (argv[i+1] && argv[i+2]) {
		    int motor = atoi(argv[i+1]);
		    int angle = atoi(argv[i+2]);
		    duck_set_position(motor, angle);
		    i += 2;
	       }
	  } else if (strcmp(argv[i], "vel") == 0) {
	       if (argv[i+1] && argv[i+2] && argv[i+3]) {
		    int motor = atoi(argv[i+1]);
		    int deg_per_sec = atoi(argv[i+2]);
		    int ms = atoi(argv[i+3]);
		    duck_set_velocity(motor, deg_per_sec, ms);
		    i += 3;
	       }
	  } else if (strcmp(argv[i], "headshake") == 0) {
	       if (argv[i+1]) {
		    int numshakes = atoi(argv[i+1]);
		    shake(MOTOR_3, numshakes, -90, 90, 250);
		    i++;
	       }
	  } else if (strcmp(argv[i], "nod") == 0) {
	       if (argv[i+1]) {
		    int numnods = atoi(argv[i+1]);
		    shake(MOTOR_2, numnods, -90, 0, 250);
		    i++;
	       }
	  } else if (strcmp(argv[i], "facepalm") == 0) {
	       if (argv[i+1]) {
		    int numnods = atoi(argv[i+1]);
		    shake(MOTOR_2, numnods, -90, 0, 250);
		    i++;
	       }
	  }
     }
     if (read_mode) {
	  while (1) {
	       char c;
	       if (read(duckfd, &c, 1) != 1) err(
     close_duck();
     return 0;
}